JP6952507B2 - Mobiles, methods of guiding and positioning mobiles, devices, and systems - Google Patents

Description

The present invention relates to moving bodies, methods of guiding and positioning moving bodies, devices, and systems.

Conventionally, a method and a system for positioning a positioning object at a target position are known (see, for example, Patent Document 1). In the technique described in Patent Document 1, the marking device is moved toward a target position based on the position of the marking device measured using a laser range finder. Then, after the marking device is moved, the marking device is positioned at the target position based on the position of the marking device measured using the total station. In this system, marking is performed using a total station, a laser range finder, a collimator, and a marking device (see, for example, [FIG. 1] of Patent Document 1).

Further, a method and an apparatus for detecting the position of an object are known (see, for example, Patent Document 2). In the technique described in Patent Document 2, two laser beams are sequentially irradiated to a target object from a single laser light source of a laser pointer robot. Then, the position of the center of gravity of the first laser spot and the position of the center of gravity of the second laser spot are measured in the in-object coordinate system of the object. As a result, the position of the target object in the area coordinate system is detected.

Japanese Patent No. 5516204 Japanese Patent No. 3731123

However, the technique described in Patent Document 1 requires the use of a total station, a laser range finder, a collimator, and a marking device, which complicates the system configuration and makes the system extremely expensive.

Further, in Patent Document 1, the position of the positioning object is measured by using a laser range finder. However, this method cannot measure the posture of the positioning object. If the posture cannot be measured, it becomes difficult to accurately guide the positioning object to the target position, which is not suitable as a method for guiding the positioning object to the target position.

Further, in the technique described in Patent Document 2, since the laser beam is applied to the floor surface on which the position detection target object is located, the laser spot is widened and the position of the position detection target object is detected with high accuracy. I can't. In order to accurately detect the position of the object to be detected, a high-precision laser device is required, which complicates the system configuration. Further, in Patent Document 2, since the position is calculated after sequentially irradiating the two lasers, the real-time property of the position calculation is poor. Further, since the posture of the position detection target object cannot be calculated, it is not suitable as a method for guiding the positioning target object to the target position as in Patent Document 1.

In consideration of the above facts, an object of the present invention is to automatically position a moving body by a simple configuration.

In order to achieve the above object, the method of guiding and positioning the moving body of the present invention includes an irradiation step of irradiating a laser for posture measurement and a laser for distance measurement toward a target position of the moving body, and the posture of the irradiation step. The movement is such that the posture changing step of changing the posture of the moving body according to the measuring laser and the distance between the laser device irradiating the distance measuring laser and the moving body are a predetermined distance. It includes a moving step of moving the body and positioning the moving body at the target position. As a result, the moving body can be automatically positioned with a simple configuration.

The guiding and positioning device for a moving body of the present invention controls the posture of the moving body according to the attitude measurement laser irradiated toward the target position of the moving body, and measures the movement toward the target position. Based on the distance to the laser reflection position measured by the distance measuring laser, the moving body is set so that the distance between the laser device that irradiates the distance measuring laser and the moving body is a predetermined distance. The moving body is provided with a control unit for positioning the moving body at the target position by controlling the movement of the moving body.

The control unit of the present invention has a first image showing an image of the posture measurement laser irradiated on a first screen provided on the moving body and a second screen provided on the moving body. Based on the second image representing the image of the irradiated posture measurement laser, the posture measurement laser included in the first image and the posture measurement laser included in the second image Correspondingly, the distance between the laser device and the second screen is based on the distance to the laser reflection position measured by controlling the posture of the moving body and using the distance measuring laser. The moving body can be controlled to move so as to have a predetermined distance. Thereby, the positioning of the moving body can be automatically performed in consideration of the orientation of the moving body with respect to the target position and the distance between the target position and the moving body.

The control unit of the present invention controls to stop the moving body when the distance between the laser device and the second screen is a predetermined distance, and depending on the stop position of the moving body. The display mechanism of the moving body can be controlled so as to display the target position. As a result, even when the stop position of the moving body deviates from the target position, the display with respect to the target position can be performed with high accuracy.

The moving body of the present invention has a first screen installed so as to irradiate a posture measurement laser and a distance measurement laser, and the first screen installed so as to irradiate the attitude measurement laser. A second screen is installed at a position different from the screen in the vertical direction and at a predetermined distance in the normal direction of the first screen, and a first screen representing an image of the first screen. A first camera that captures the image of the second screen, a second camera that captures the second image representing the image of the second screen, the first image, the second image, and the distance measurement. It includes a traveling mechanism that is controlled according to the distance to the laser reflection position measured by using a laser, and a display mechanism that displays a target position according to the traveling result of the traveling mechanism. As a result, it is possible to automatically display the target position with a simple configuration.

In the moving body guidance and positioning system of the present invention, a laser device for irradiating a posture measurement laser and a distance measuring laser, a moving body of the present invention, and the posture measuring laser and the distance measuring laser of the moving body are used. The present invention further includes a laser control unit that controls the laser device so as to irradiate the laser device toward a target position, and a measurement unit that acquires a distance to a laser reflection position measured by the distance measuring laser. It is configured to include a positioning device of.

The laser control unit of the positioning device of the present invention irradiates the ranging laser toward the target position based on the target position information acquired from the three-dimensional model of the building including the target position information. The laser device can be controlled. This makes it possible to accurately position the moving body by using the target position information included in the three-dimensional model of the building.

According to the present invention, it is possible to obtain the effect that the moving body can be automatically positioned by a simple configuration.

It is a block diagram which shows the schematic structure of the guidance and positioning system of the moving body which concerns on 1st Embodiment. It is a figure which shows the functional configuration example of the control system of the guidance and positioning system of a moving body. It is a figure which shows an example of the structure of a 3D laser measuring instrument, and an example of the structure of a rotary laser irradiator. It is a figure which shows an example of the structure of the marking robot. It is a figure which shows an example of the wheel provided in the traveling mechanism. It is a figure which shows an example of the structure of the horizontal position adjustment mechanism. It is explanatory drawing for demonstrating the horizontal position adjustment mechanism and the display mechanism. It is a figure which shows an example of the coordinate system at the construction site set in this embodiment. It is a figure which shows an example of a moving coordinate system. It is explanatory drawing for demonstrating the coordinates set in this embodiment. It is explanatory drawing for demonstrating the coordinates set in this embodiment. It is explanatory drawing for demonstrating the coarse movement phase of this embodiment. It is explanatory drawing for demonstrating the laser line in a moving coordinate system. It is a figure for demonstrating the relationship between the structure of the marking robot and the laser projected on each screen. It is explanatory drawing for demonstrating the laser coordinate system and each wheel. It is a figure which shows an example of the positional relationship between the laser line of a point laser and a vertical laser, and the amount of deviation. It is a sequence diagram which shows the processing of the first half part in a rough motion phase. It is a flowchart which shows the coarse movement control processing in a coarse movement phase. It is a sequence diagram which shows the processing of the latter half part in a rough motion phase. It is a flowchart which shows the fine movement control processing in a fine movement phase. It is a figure which shows an example of the structure of the rotary laser irradiator in the 2nd Embodiment. It is a figure which shows an example of the structure of the guidance and positioning system of the moving body which concerns on 2nd Embodiment. It is a figure which shows an example of the 1st image in the 1st screen of 2nd Embodiment, and 2nd image in a 2nd screen. It is a figure which shows an example of the 2nd image in the 2nd screen of 2nd Embodiment. It is a figure which shows the modification of the guidance and positioning system of a moving body. It is a figure which shows the modification of the guidance and positioning system of a moving body.

Hereinafter, embodiments of the present invention will be described in detail.

<Structure of a moving body guiding and positioning system according to the first embodiment>

The moving body guidance and positioning system according to the first embodiment is a system for moving the marking robot to a designated target point and marking the target coordinates corresponding to the target point. FIG. 1 is a diagram showing an example of a configuration of a moving body guiding and positioning system 100 according to an embodiment of the present invention. As shown in FIG. 1, the moving body guidance and positioning system 100 includes a control device 10, a laser device 12, and a marking robot 14. The marking robot 14 is an example of a moving body.

In the moving body guidance and positioning system 100, the control device 10 controls the laser device 12. The laser device 12 irradiates the laser according to the control of the control device 10. The marking robot 14 moves to the target point according to the laser emitted from the laser device 12. Then, when the marking robot 14 reaches the vicinity of the target point, the marking robot 14 performs marking with respect to the target coordinates corresponding to the target point. FIG. 2 is a diagram showing an example of a functional configuration of a control system of a moving body guiding and positioning system 100. Hereinafter, a specific description will be given with reference to FIGS. 1 and 2.

(Control equipment)

The control device 10 controls the laser device 12 and the marking robot 14. The control device 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores programs for realizing each processing routine, a RAM (Random Access Memory) that temporarily stores data, and a storage means. It is configured to include a memory, a network interface, and the like. The control device 10 functionally includes a communication unit 10A and a control unit 10B, as shown in FIG.

The control device 10 transmits / receives information to / from the robot control device 14E of the marking robot 14 via the communication unit 10A.

The control unit 10B of the control device 10 generates a control signal for controlling the laser device 12. Specifically, the control unit 10B outputs a control signal regarding the rotation of the point laser in the irradiation direction to the three-dimensional laser measuring device 12A. Further, the control unit 10B transmits a control signal related to the distance measurement by the point laser to the three-dimensional laser measuring device 12A. Then, the control unit 10B receives the distance measurement data measured by the three-dimensional laser measuring device 12A. Further, the control unit 10B of the control device 10 transmits a control signal regarding a rotation instruction in the irradiation direction of the vertical laser to the rotary laser irradiator 12B.

(Laser equipment)

The laser device 12 irradiates the laser toward the target point of the marking robot 14. The laser device 12 irradiates the laser according to the control of the control device 10. As shown in FIGS. 1 and 2, the laser device 12 includes a three-dimensional laser measuring device 12A and a rotary laser irradiator 12B. The rotation axis of the three-dimensional laser measuring device 12A and the rotation axis of the rotary laser irradiator 12B coincide with each other. The three-dimensional laser measuring device 12A outputs a point laser as a distance measuring laser. Further, the rotary laser irradiator 12B outputs a vertical laser as a posture measurement laser. In the first embodiment, a case where the distance measuring laser is a point laser and the posture measuring laser is a vertical laser will be described as an example.

FIG. 3A shows an example of the configuration of the three-dimensional laser measuring instrument 12A. The three-dimensional laser measuring device 12A irradiates the point laser from the laser irradiating unit 12C in response to the control signal output from the control device 10. The point laser is irradiated in the direction specified by the control signal and substantially parallel to the floor surface. Further, the three-dimensional laser measuring device 12A measures the horizontal distance to the object irradiated with the point laser.

FIG. 3B shows an example of the configuration of the rotary laser irradiator 12B. The rotary laser irradiator 12B irradiates the vertical laser from the laser irradiating unit 12D in response to the control signal output from the control device 10. The vertical laser is irradiated in the direction specified by the control signal and substantially perpendicular to the floor surface. The rotary laser irradiator 12B includes a rotary table 12E that rotates around the Z axis (azimuth direction), and a motor 12F that rotates the rotary table in response to a control signal related to a rotation instruction from the control device 10.

(Inking robot)

The marking robot 14 moves according to the laser emitted from the laser device 12, and marks the target coordinates of the target point.

The marking robot 14 can be configured as shown in FIG. 4, for example. As shown in FIGS. 2 and 4, the marking robot 14 includes a first screen 14A, a second screen 14B, a first camera 14C, a second camera 14D, and a robot control device 14E. , A traveling mechanism 14F, a horizontal position adjusting mechanism 14G, and a display mechanism 14H. Further, the skeleton of the sumi-inking robot 14 is configured to include a frame and the like. The robot control device 14E is an example of a moving body guiding and positioning device.

The first screen 14A is installed so as to be irradiated with a vertical laser. The irradiation light of the vertical laser emitted from the rotary laser irradiator 12B is projected on the first screen 14A.

The second screen 14B is installed so that the vertical laser and the point laser are irradiated. Further, as shown in FIG. 4, the second screen 14B is located at a position different from the first screen 14A in the vertical direction and at a predetermined interval in the normal direction of the first screen 14A. Will be installed. On the second screen 14B, the irradiation light of the vertical laser emitted from the rotary laser irradiator 12B and the irradiation light of the point laser emitted from the three-dimensional laser measuring instrument 12A are projected.

The first camera 14C images the first screen 14A to obtain a first image representing an image of a vertical laser illuminated on the first screen. Further, the second camera 14D images the second screen 14B to obtain a second image representing at least one image of the vertical laser and the point laser irradiated on the second screen. The first image and the second image are used for controlling the marking robot 14.

The robot control device 14E controls the marking robot 14. The robot control device 14E includes a CPU, a ROM that stores programs and the like for realizing each processing routine, a RAM that temporarily stores data, a memory as a storage means, a network interface, and the like. As shown in FIG. 2, the robot control device 14E includes a robot control unit 140 and a robot communication unit 142. The robot control device 14E communicates with the control device 10 via the robot communication unit 142, and transmits / receives information.

The robot control unit 140 performs image processing on the first image captured by the first camera 14C and the second image captured by the second camera 14D. Further, the robot control unit 140 controls the traveling mechanism 14F, the horizontal position adjusting mechanism 14G, and the display mechanism 14H in response to the control signal transmitted from the control device 10.

The traveling mechanism 14F travels the marking robot 14 under the control of the robot control device 14E. The traveling mechanism 14F is a second screen measured by using an image processing result for a first image captured by the first camera 14C and a second image captured by the second camera 14D and a point laser. It is controlled according to the distance to 14B. In this embodiment, the position of the second screen 14B is the laser reflection position.

The traveling mechanism 14F can be, for example, a mechanism that can freely move in all directions. In the present embodiment, a case where the traveling mechanism 14F is a three-wheel type omnidirectional moving mechanism including three omni wheels (registered trademark) and a drive motor (not shown) for driving each omni wheel will be described as an example. do. As shown in FIG. 5, the omni wheel slides freely in a direction perpendicular to the driving direction of the wheel. Therefore, by controlling the rotation speed of each of the three wheels, the marking robot 14 can be moved in all directions.

The horizontal position adjusting mechanism 14G adjusts the horizontal position of the display mechanism 14H according to the traveling result of the traveling mechanism 14F based on the control of the robot control device 14E. Specifically, when the marking robot 14 reaches the vicinity of the target point, the horizontal position adjusting mechanism 14G adjusts the horizontal position of the display mechanism 14H according to the control of the robot control device 14E. Then, marking is performed by the display mechanism 14H according to the position adjustment of the horizontal position adjusting mechanism 14G.

The horizontal position adjusting mechanism 14G can be configured as shown in FIG. 6A, for example. As shown in FIG. 6A, the horizontal position adjusting mechanism 14G includes, for example, an X-axis stage and a Y-axis stage that move _{the display mechanism 14H in two directions (X m} direction and Y _{m direction in FIG. 6B) orthogonal to each other.} It has. X-axis stage, extending in the X direction, the X-axis rail R _X for movably supporting a display mechanism 14H in the X-axis direction, and the X-axis motor M _X for moving the display mechanism 14H in the X-axis rail R _X It has. Further, the Y-axis stage extends in the Y-axis direction and supports the display mechanism 14H so as to be movable in the Y-axis direction. The Y-axis rail _RY and the Y-axis motor M that moves the Y-axis stage _{along the Y-axis rail RY. It has a Y.}

As shown in FIG. 6A, is set to the rail R _X in the X-axis stage of the horizontal position adjusting mechanism 14G coincides with X _m-axis of the moving coordinate system that will be described later, and rails R _Y of the Y-axis stage will be described later It is installed so as to coincide with _{the Y m} axis of the moving coordinate system.

The display mechanism 14H prints out as a display for the target position according to the travel result of the travel mechanism 14F based on the control of the robot control device 14E. Specifically, a stamp is printed on the floor surface as a display for the target position according to the adjustment of the horizontal position of the display mechanism 14H by the horizontal position adjustment mechanism 14G.

As shown in FIG. 6B, the display mechanism 14H includes a stamp portion St filled with ink on which a marking mark is engraved, and an elevating mechanism 14I for raising and lowering the stamp portion St in the Z-axis direction.

The elevating mechanism 14I includes a Z-axis rail R _Z that movably supports the stamp portion St in the vertical direction (Z _m direction in FIG. 6B) and a Z-axis motor M that moves the stamp portion St along the Z-axis rail R _{Z. It has a Z.} The stamp portion St is lowered to the floor surface by the elevating mechanism 14I, so that the marking mark is stamped on the floor surface.

Next, the coordinate system in this embodiment will be described.

(Coordinate system)

FIG. 7 shows an example of the coordinate system at the construction site set in the present embodiment. In the present embodiment, as shown in FIG. 7, a case where the parent ink has already been drawn will be described as an example. As shown in FIG. 7, the parent ink represents ink drawn at a predetermined distance (for example, 1 m) from the core passing through the pillar of the building. It is assumed that the coordinates of the intersections of the ink sticks are known from the drawing information of the building.

As shown in FIG. 7, for example, one ink stick is defined as the X _w axis, and a specific ink stick orthogonal to the _{X w axis is defined as the Y w} axis. Then, _{the intersection of the X w} axis and the Y _w axis is set as the origin O _w , and the absolute coordinate system O _w- X _w Y _w is set. In the absolute coordinate system shown in FIG. 7, A way corresponds to the X _w axis and 1 way corresponds to the _{Y w axis.}

Further, as shown in FIG. 8, a moving coordinate system O _m- X _m Y _m is set in which _{the center of gravity of the marking robot 14 is defined as the origin O m.} Then, let φ be the angle formed between the _{X w} axis of the absolute coordinate system and the X _{m axis of the moving coordinate system.} The center of gravity of the marking robot 14 is defined as the origin O _m, and the distance between each wheel is L _H.

Next, the positions of the three-dimensional laser measuring device 12A and the rotary laser irradiator 12B in the absolute coordinate system and the positions of the target point T will be described.

As shown in FIG. 9, the laser device 12 including the three-dimensional laser measuring device 12A and the rotary laser irradiator 12B is installed at an _{arbitrary point L (xl} , y _l). Hereinafter, the arbitrary point L (x _l , y _l ) is referred to as an instrument point L. In this case, the rotation axis in the directional direction of the three-dimensional laser measuring device 12A and the rotation axis in the directional direction of the turntable of the rotary laser irradiator 12B are arranged so as to coincide with each other.

First, the positional relationship between the instrument point L and the target point T will be described. As shown in FIG. 9, for two points (for example, intersections of ink sticks) A and B whose coordinates are known, _{by measuring ∠ALB and horizontal distances r a} and r _b , the following _{The coordinates (x l} , y _l ) of the instrument point L can be calculated according to the equations (1) and (2).

Next, consider a case where the marking robot 14 is guided to a target point T (x _t , y _{t) and marked.} In this case, as shown in FIG. 10, the horizontal distance r _t from the instrument point L to the target point T is represented by the following formula (3). Further, the azimuth angle ∠ALB with respect to the known point A from the instrument point L to the target point T is expressed by the following equation (4).

A horizontal distance r _t from the instrument point L to the target point T, based on the azimuth ∠ALB for known point A from the instrument point L to the target point T, marking robot 14 is induced.

Next, the operation of the marking robot 14 in this embodiment will be described.

(Operation of marking robot)

In the present embodiment, the movement phase of the marking robot 14 to the target point T is divided into the following two.

(1) Coarse movement phase: Phase of moving to the vicinity of the target point T (for example, within 10 cm from the target point) (2) Fine movement phase: Using the horizontal position adjustment mechanism 14G and the display mechanism 14H provided in the marking robot 14. Then, the phase of marking the target position

Hereinafter, each phase will be specifically described.

(Coarse movement phase)
In the coarse movement phase, the marking robot 14 moves according to the following STEP1 to STEP4. STEP1 to STEP4 will be specifically described with reference to FIG.

[STEP1]

In STEP 1, the control unit 10B of the control device 10 controls the rotary laser irradiator 12B so that the vertical laser is irradiated. The rotary laser irradiator 12B irradiates a vertical laser in response to a control signal from the control device 10.

In the following, a line obtained by projecting a vertical laser onto an XY plane is referred to as a laser line. The laser line in the moving coordinate system O _m- X _m Y _m is as shown in FIG.

As shown in FIG. 11A, the marking robot 14 is arranged on the laser line to be in the initial state. When the marking robot 14 is irradiated with the vertical laser from the rotary laser irradiator 12B, the laser line of the vertical laser is projected on the first screen 14A and the second screen 14B of the marking robot 14. ..

A method of guiding the marking robot 14 based on the laser lines projected on the first screen 14A and the second screen 14B of the marking robot 14 will be described below.

As shown in FIG. 13 (A), the second screen 14B is positioned marking movement coordinate system of the robot 14 _X m -Z _m plane. The first screen 14A is parallel to the moving coordinate system _X m -Z _m plane, and are arranged at a distance _{y s} from the second screen 14B. Further, the installation position of each screen, the three-dimensional laser measuring instrument 12A, so that the point laser is projected on the second screen 14B and the vertical laser is projected on the first screen 14A and the second screen 14B. And the height of the rotary laser irradiator 12B is adjusted in advance.

As shown in FIG. 13 (A), by a first screen 14A and second screen 14B is arranged at a distance y _s, it is possible to identify the orientation relative to the laser line marking robot 14 .. Specifically, the posture of the marking robot 14 is specified based on the difference between the first image representing the first screen 14A and the second image representing the second screen 14B.

More specifically, when the laser line and the first screen 14A and the second screen 14B are not vertical, the position of the laser line projected on the first screen 14A and the laser projected on the second screen 14B. The position of the line is different.

For example, when the first screen 14A and the second screen 14B and the laser line have a positional relationship as shown in FIG. 12, the position of the laser line projected on the first screen 14A and the second screen 14B The position of the laser line projected on is as shown in FIG. 13 (B). As shown in FIG. 13 (B), the distance from the center of the first screen to the projection position of the laser line and x _1, the distance from the center of the second screen to the projection position of the laser line and x ₂ Then, the distance x ₁ and the distance x ₂ are different values.

In the present embodiment, the posture of the marking robot 14 is controlled by using the projection position of the laser line projected on each screen.

Specifically, as shown in FIG. 13B, when the laser line of the vertical laser is projected onto the first screen 14A and the second screen 14B, the first camera of the marking robot 14 14C captures a first screen 14A to obtain a first image. Further, the second camera 14D of the marking robot 14 captures the second screen 14B and obtains the second image.

Therefore, the robot control unit 140 of the robot control device 14E performs image processing on the first image and the second image. Specifically, the robot control unit 140 performs image processing such as edge extraction and high-intensity pixel extraction processing on the first image and the second image to perform vertical lasers in the first image and the second image. Detects the projected position of the laser line.

Then, from the image processing results of the first image and the second image, the robot control unit 140 determines the distance x ₁ from the center of the first screen 14A to the projection position of the laser line and the laser line from the center of the second screen 14B. Calculate _{the distance x 2} to the projection position of. By calibrating the first camera 14C and the second camera 14D in advance, the length corresponding to one pixel of the image can be determined in advance, so that the distance x ₁ and the distance x ₂ are calculated. Can be done.

The robot control unit 140, based on the distance _{x 1} and the distance _{x 2,} calculates the angle θ formed by the between the _{Y m} axis and the laser line of movement coordinate system _{O m -X} m _Y m. Further, the robot control unit 140 calculates the distance d between the center of gravity _{Om and the laser line based on the distance x 1} and the distance x _2.

Specifically, the robot control unit 140 calculates the angle θ and the distance d to be formed according to the relational expressions of the following equations (5) and (6).

x ₁ = y _s / sin θ (5)
x ₂ = d / cos θ (6)

[STEP2]

In STEP 2, as shown in FIG. 11B, the control unit 10B of the control device 10 controls the three-dimensional laser measuring device 12A so that the point laser is irradiated toward the target point T. The three-dimensional laser measuring device 12A irradiates the point laser in the direction of the target point T in response to the control signal from the control device 10.

[STEP3]

In STEP 3, as shown in FIG. 11 (c), the control unit 10B of the control device 10 sets the rotary laser irradiator 12B so that the vertical laser is scanned toward the target point T of the marking robot 14. Control. Then, the rotary laser irradiator 12B irradiates the vertical laser so as to scan the vertical laser toward the target point T in response to the control signal of the control unit 10B. Hereinafter, a specific description will be given.

As shown in FIG. 11C, the control device 10 transmits a control signal instructing the rotary laser irradiator 12B to rotate in the direction of the target point T at a constant speed. The rotary laser irradiator 12B rotates in the direction of the target point T at a constant speed as shown in FIG. 11C in response to the control signal transmitted from the control device 10. Then, as shown in FIG. 11C, the marking robot 14 travels so as to track the vertical laser emitted from the rotary laser irradiator 12B in accordance with the rotation of the rotary laser irradiator 12B. .. The tracking of the vertical laser of the marking robot 14 will be specifically described below.

In the present embodiment, as shown in FIG. 14, indexes H1, H2, and H3 are assigned to each wheel included in the traveling mechanism 14F. Further, in the present embodiment, the laser coordinate system _{LX laser} Y _{has the instrument point L (x l} , y _l ) as the origin, the laser line as the Y _laser axis, and the direction orthogonal to the _{Y laser axis as the X laser axis.} Set the _laser.

In addition, the coordinates of the center of gravity of the marking robot in the laser coordinate system are (x _laser , y _laser ), the posture is θ _laser , the instruction speed in the _{X laser} ^{direction to the marking robot is x ·} _laser , and the instruction _{in the Y laser} direction in the laser coordinate system. _{Let the} speed be y ^· laser. Further, the indicated rotation speed in the laser coordinate system is θ ^· _laser . Here, θ _{laser corresponds to the inclination angle of the Y m} axis of the moving coordinate system with respect to the laser line (Y _laser axis), and is the same as θ that can be calculated by the equations (5) and (6).

In the present embodiment, the PID control system is configured by using the distance d between the laser line and the barycentric coordinates of the marking robot and the tilt angle θ _{laser of the Y m} axis of the moving coordinate system with respect _{to the laser line (Y laser axis) as a deviation signal.} Then, the values represented by the equations (7), (8), and (9) are used as the control input for the marking robot.

（７）

（８）

（９）

(7)

(8)

(9)

The parameter _K P about PID _{control, d, K I, d,} K D, d, K P, θ, K I, θ, K D, θ is set in advance.

_{Based on the distance x 1} and the distance x ₂ , the robot control device 14E forms an angle θ (t) at time t and a distance d (t) at time t according to the relational expressions of the above equations (5) and (6). Is calculated sequentially. Then, the robot control device 14E follows the above equations (7), (8), and (9) based on the angle θ (t) formed at time t, the distance d (t) at time t, and the parameters related to PID control. , The indicated speed x ^· _laser , the indicated speed y ^· _laser , and the indicated rotation speed θ ^· _laser for the marking robot 14 are calculated.

The robot control device 14E calculates the forward speeds v1, v2, v3 of each wheel H1, H2, H3 based on ^{the calculated indicated speed x ·} _laser , indicated speed y ^· _laser , and indicated rotation speed θ ^· _laser. do. Specifically, the robot control device 14E has the respective wheels H1, H2, and H3 according to the following equation (10) based on ^{the indicated speed x ·} _laser , the indicated speed y ^· _laser , and the indicated rotation speed θ ^· _laser. The forward speeds v1, v2, v3 are calculated. _{The θ laser} in the following equation (10) is the angle formed between the laser line and the Y _m axis in the moving coordinate system, and corresponds to the formed angle θ calculated by the above equations (5) and (6). do.

（１０）

(10)

The robot control device 14E controls the wheels H1, H2, and H3 of the traveling mechanism 14F of the marking robot 14 so as to be driven at forward speeds v1, v2, v3.

As a result, feedback control is performed so that the angle θ (t) formed at time t and the distance d (t) at time t become zero, and the marking robot 14 can stably track the vertical laser.

Next, as shown in FIG. 11D, the control unit 10B of the control device 10 stops the rotational movement of the rotary laser when the irradiation direction of the vertical laser coincides with the direction of the target point T. The irradiator 12B is controlled.

When the rotary motion of the rotary laser irradiator 12B is stopped, the tracking operation of the vertical laser of the marking robot 14 is also completed. As a result, the marking robot 14 is temporarily stopped.

[STEP4]

In STEP 4, as shown in FIG. 11 (e), the marking robot 14 travels on the laser line toward the target point T. In STEP 4, the point laser and the vertical laser are irradiated toward the target point T of the marking robot 14, and the posture of the marking robot 14 is changed according to the vertical laser. Then, the marking robot 14 is moved so that the distance between the three-dimensional laser measuring device 12A that irradiates the point laser and the marking robot 14 becomes a predetermined distance, and the marking robot 14 is positioned at the target point. do. Hereinafter, a specific description will be given.

First, the robot control device 14E has the three-dimensional laser measuring device 12A and the second screen 14B based on the distance to the laser reflection position measured by the point laser irradiated from the three-dimensional laser measuring device 12A. The marking robot 14 is controlled to be moved so that the distance between the two is a predetermined distance.

Specifically, first, the control unit 10B of the control device 10 transmits a control signal related to a distance measurement instruction to the three-dimensional laser measuring device 12A at predetermined time intervals. The three-dimensional laser measuring device 12A receives the control signal regarding the instruction for distance measurement, and measures _{the horizontal distance r screen 2 to the second screen irradiated with the point laser.} Then, the three-dimensional laser measuring device 12A _{outputs the horizontal distance r screen 2} to the control device 10. _{The control unit 10B of the control device 10 acquires the horizontal distance r screen2} output from the three-dimensional laser measuring device 12A and transmits it to the robot control device 14E of the marking robot 14.

Then, the robot control apparatus 14E, when the horizontal distance _{r Screen2} transmitted from the control device 10 is greater than the horizontal distance LT from the instrument point L to the target point _T (= _{r t),} marking robot 14 is instrumental point The traveling mechanism 14F is controlled so as to approach L. On the other hand, the robot control device 14E controls the traveling mechanism 14F so that the marking robot 14 moves away from the instrument point L when _{the horizontal distance r screen2 is smaller than the horizontal distance LT.}

Further, the robot control device 14E is a vertical laser included in the first image based on the first image captured by the first camera 14C and the second image captured by the second camera 14D. The posture of the marking robot 14 is controlled so that the laser line and the laser line of the vertical laser included in the second image coincide with each other. As a result, the posture of the marking robot 14 is changed according to the vertical laser.

Specifically, the robot control device 14E determines the forward speed v1, v2, v3 of each wheel so that the angle θ (t) formed by the time t and the distance d (t) formed by the time t become zero. Take control. Parameters _K P about PID _{control, d, K I, d,} K D, d, K P, θ, K I, θ, K D, for _theta, optimum values are set in advance, be different from the STEP3 good.

^{The indicated speed x ·} _laser , the indicated speed y ^· _laser , and the indicated rotation speed θ ^· _laser in STEP 4 with respect to the marking robot 14 are represented by the following equations (11), (12), and (13). Therefore, the robot control device 14E has the following equations (11) and (12) based on the angle θ (t) formed at time t, the distance d (t) at time t, the parameters related to PID control, and the horizontal distance r _screen2. ), And the indicated speed x ^· _laser , the indicated speed y ^· _laser , and the indicated rotation speed θ ^· _laser for the marking robot 14 are calculated according to the equation (13). Then, the robot control device 14E is based on the indicated speed x ^· _laser , the indicated speed y ^· _laser , and the indicated rotation speed θ ^· _laser , and the forward speeds v1 of each wheel H1, H2, H3 according to the above equation (10). Calculate v2 and v3. Then, the robot control device 14E controls the wheels H1, H2, H3 of the traveling mechanism 14F of the marking robot 14 so as to be driven at the forward speeds v1, v2, v3. Here, v _const is a preset constant value and represents the moving speed of the marking robot 14.

（１１）

（１２）

（１３）

(11)

(12)

(13)

Next, the robot control device 14E controls to stop the marking robot 14 when the distance between the three-dimensional laser measuring device 12A and the second screen 14B is a predetermined distance. Then, the control unit 10B controls the display mechanism 14H of the marking robot 14 so as to display the target position according to the stop position of the marking robot 14.

Specifically, the robot control apparatus 14E, if the difference between the measurement results and the LT of the horizontal distance _{r Screen2} output from the three-dimensional laser measuring device 12A is less than a predetermined value ε _{(abs (r screen2} -LT) At <ε), each wheel of the traveling mechanism 14F is stopped.

After the marking robot 14 has stopped running, the robot control device 14E uses the above equation (5) based on the first image taken by the first camera 14C and the second image taken by the second camera 14D. ) And equation (6), the angle θ formed is calculated. Then, the robot control apparatus 14E, like vertical laser and _{Y m} axis are parallel (theta = 0 deg), to rotate the marking robot 14.

(Fine movement phase)

Next, the fine movement phase will be described. In the fine movement phase, the horizontal position adjusting mechanism 14G and the display mechanism 14H mark out the target coordinates.

First, the control unit 10B of the control device 10 outputs a control signal related to the distance measurement instruction to the three-dimensional laser measuring device 12A. _{The three-dimensional laser measuring device 12A measures the horizontal distance r screen2} in response to the control signal related to the distance measurement instruction output from the control device 10, and outputs the horizontal distance r screen2 to the control device 10. _{The control unit 10B of the control device 10 acquires the horizontal distance r screen2} output from the three-dimensional laser measuring device 12A and transmits it to the robot control device 14E of the marking robot 14.

The robot control unit 140 of the robot control device 14E acquires the _{horizontal distance r screen2 transmitted from the control device 10.} Further, the robot control unit 140 calculates the _{distance x 2} on the second screen 14B based on the second image taken by the second camera 14D.

Then, as shown in the following equation (14), the robot control unit 140 sets the calculated distance x _{2 in the X m} direction _{between the origin O m} and the target point T (x _t , y _t ) of the moving coordinate system. The amount of deviation of is Δx _t . _{Further, the control unit 10B sets the origin O m} and the target point T (x _t , y _t ) of the moving coordinate system according to the following equation (15) based on the horizontal distance LT and the received horizontal distance r _screen2. The amount of deviation Δy _{t in the Y m} direction is calculated. The positional relationship between the laser lines of the point laser and the vertical laser and the deviation amounts Δx _t and Δy _t is shown in FIGS. 15A and 15B.

Δx _t = x ₂ (14)
Δy _t = LT-r _screen2 (15)

As shown in FIG. 6A, the rail R _X in the X-axis stage of the horizontal position adjusting mechanism 14G coincides with X _m-axis of the moving coordinate system, rails R _Y of the Y-axis stage and Y _m axis of movement coordinate system Match. Therefore, as shown in FIGS. 15 (A) and 15 (B), the amount of deviation _{between the origin O m} of the moving coordinate system and the target point T (x _t , y _t ) in the X _m direction and the Y _{m direction Δx t} , [Delta] y _t is the formula (14) can be calculated according to (15). The deviation amounts Δx _t and Δy _t are used in the horizontal position adjusting mechanism 14G described later.

The robot control unit 140, the calculated deviation amount [Delta] x _t, based on [Delta] y _t, and generates a control signal for driving the X axis motor M _X and Y-axis motor M _Y horizontal position adjusting mechanism 14G. Specifically, the robot controller 140, respectively [Delta] x _t the center from the origin _{O m} of the display mechanism 14H, so is moved by [Delta] y _t, the control for driving the X axis motor _{M X} and Y-axis motor _{M Y} Generate a signal. Then, the robot controller 140, based on the control signal for driving the X axis motor _{M X} and Y-axis motor _{M Y,} respectively [Delta] x _t the center from the origin _{O m} of the display mechanism 14H, so as to move only [Delta] y _t the drives the X axis motor _{M X} and Y-axis motor _{M Y.} As a result, the center of the stamp portion St can be moved to just above the target point.

Next, the robot controller 140, after moving the stamp unit St, to perform stamping by pressing the stamp portion St on the floor by controlling the Z-axis motor M _Z, controls the lifting mechanism 14I. This completes the marking of the marking.

<Operation of moving body guidance and positioning system>

Next, the operation of the moving body guiding and positioning system 100 will be described with reference to FIGS. 16 to 19. When the moving body guiding and positioning system 100 is activated, the sequence shown in FIG. 16 is executed.

First, in step S100, the control device 10 outputs a control signal instructing the three-dimensional laser measuring device 12A to irradiate the point laser in the direction of the target point T.

In step S102, the three-dimensional laser measuring instrument 12A irradiates the point laser in the direction of the target point T in response to the control signal output in step S100.

In step S104, the control device 10 outputs a control signal instructing the rotary laser irradiator 12B to irradiate the vertical laser and rotate in the direction of the target point T at a constant speed.

In step S106, the rotary laser irradiator 12B irradiates the vertical laser in response to the control signal output in step S104, and rotates in the direction of the target point T at a constant speed.

Next, when the vertical laser emitted from the rotary laser irradiator 12B begins to be projected onto the first screen and the second screen of the marking robot 14, the first camera 14C of the marking robot 14 moves to the first screen. The screen 14A of 1 is imaged to obtain a first image. Further, the second camera 14D captures the second screen 14B and obtains the second image. Then, the coarse motion control process shown in FIG. 17 is executed.

In step S200, the robot control unit 140 of the robot control device 14E acquires the first image captured by the first camera 14C and the second image captured by the second camera 14D.

In step S202, the robot controller 140 acquired in step S200, based on the first image and the second image, the distance _{x 2} at the distance _{x 1} and the second screen 14B of the first screen 14A Is calculated.

In step S204, the robot controller 140, calculated in step S202, the distance on the basis of _{x 1} and the distance _{x 2,} the formula (5) and the formula according to (6), the moving coordinate system _O m -X _m It calculates the angle θ formed by the between the Y _m axis and the laser line of Y _m, and a distance d between the center of gravity O _m and laser line.

In step S206, the robot control unit 140 indicates the speed indicated to the marking robot 14 according to the above equations (7), (8), and (9) based on the angle θ and the distance d calculated in step S204. The x ^· _laser , the indicated speed y ^· _laser , and the indicated rotation speed θ ^· _laser are calculated. Then, the robot control unit 140 sets the traveling mechanism of the marking robot 14 according to the above equation (10) based on the ^{indicated speed x ·} _laser , the indicated speed y ^· _laser , and the indicated rotation speed θ ^· _{laser for the marking robot 14.} The forward speeds v1, v2, v3 of each wheel H1, H2, H3 on the 14th floor are calculated.

In step S208, the robot control unit 140 controls the wheels H1, H2, and H3 of the traveling mechanism 14F of the marking robot 14 to be driven at the forward speeds v1, v2, v3 calculated in step S206.

The process of FIG. 17 is repeatedly executed at a certain repetition cycle until the irradiation direction of the vertical laser coincides with the direction of the target point T.

Then, when the irradiation direction of the vertical laser coincides with the direction of the target point T, the control unit 10B of the control device 10 controls the rotary laser irradiator 12B so as to stop the rotational movement. When the rotary motion of the rotary laser irradiator 12B is stopped, the tracking operation of the vertical laser of the marking robot 14 is also completed. As a result, the marking robot 14 is temporarily stopped. Then, the sequence shown in FIG. 18 is executed.

In step S300, the control unit 10B of the control device 10 outputs a control signal related to the distance measurement instruction to the three-dimensional laser measuring device 12A.

_{In step S302, the three-dimensional laser measuring instrument 12A of the laser device 12 is the horizontal distance r screen2} to the second screen irradiated with the point laser based on the control signal related to the distance measurement instruction output in step S300. To measure.

In step S304, the three-dimensional laser measuring device 12A _{outputs the horizontal distance r screen2} measured in step S302 to the control device 10.

In step S306, the control unit 10B of the control device 10 acquires the _{horizontal distance r screen2 output from the three-dimensional laser measuring device 12A in step S304.}

In step S308, the control unit 10B of the control device 10 _{transmits the horizontal distance r screen2} acquired in step S306 to the robot control device 14E.

In step S310, the robot control unit 140 of the robot control device 14E acquires the _{horizontal distance r screen2 transmitted in step S308.}

In step S312, the robot control unit 140 executes the coarse movement control process shown in FIG. In the coarse motion control process in step S312, the robot control unit 140 controls the movement of the _{marking robot 14 according to the horizontal distance r screen2 acquired in step S310.}

Specifically, in step S206 in the coarse motion control process of FIG. 17, the robot control unit 140 is based on the angle θ and distance d calculated in step S204 and the horizontal distance r _{laser2 acquired in step S310.} ^{Therefore, the indicated speed x ·} _laser , the indicated speed y ^· _laser , and the indicated rotation speed θ ^· _laser are calculated according to the above equations (11), (12), and (13). Then, according to the above equation (10), the forward speeds v1, v2, v3 of the wheels H1, H2, H3 of the traveling mechanism 14F of the marking robot 14 are calculated.

The process shown in FIG. 17 is repeated in a certain repetition cycle until the difference between the measurement result _{of the horizontal distance r screen2 and the LT becomes less than a certain value ε.} The robot control unit 140 of the robot control device 14E runs the _marking robot 14 when the difference between the measurement result of the horizontal distance r screen2 output from the three-dimensional laser measuring device 12A and the LT becomes less than a certain value ε. Each wheel of the mechanism 14F is stopped.

After the marking robot 14 has stopped running, the robot control unit 140 of the robot control device 14E calculates the angle θ formed according to the above equations (5) and (6) based on the first image and the second image. do. Then, the robot controller 140, so that the vertical laser and _{Y m} axis are parallel (theta = 0 deg), to rotate the marking robot 14. When the rotation of the marking robot 14 is completed, the fine movement control process shown in FIG. 19 is executed.

In step S400, the robot control unit 140 of the robot control device 14E acquires a second image captured by the second camera 14D.

In step S402, the robot control unit 140 acquires the _{horizontal distance r screen2} output from the three-dimensional laser measuring device 12A.

In step S404, the robot control unit 140 calculates the _{distance x 2} on the second screen 14B based on the second image acquired in step S400.

In step S406, the robot control unit 140 sets the distance x ₂ calculated in step S404 as the amount of deviation Δx _{t in} the X _{m direction between the origin O m} of the moving coordinate system and the target point T (x _t , y _t). do. Further, based on the horizontal distance LT and the horizontal distance r _{screen2 acquired in step S402, the robot control unit 140 sets the origin O m} and the target point T (x _t , y) of the moving coordinate system according to the above equation (15). _The amount of deviation Δy _t in the Y _m direction from t) is calculated.

In step S408, the robot controller 140, the deviation amount [Delta] x _t calculated in step S406, based on [Delta] y _t, for driving the X axis motor _{M X} and Y-axis motor _{M Y} horizontal position adjusting mechanism 14G Generate a control signal. Then, the robot controller 140, based on the generated control signals, respectively [Delta] x _t the center from the origin _{O m} of the display mechanism 14H, so is moved by [Delta] y _t, the X-axis motor _{M X} and Y-axis motor _{M Y} Drive. As a result, the center of the stamp portion St is moved directly above the target point T.

In step S410, the robot control unit 140 controls _{the elevating mechanism 14I so as to control the Z-axis motor M Z} and press the stamp unit St against the floor surface to perform imprinting. This completes the marking of the marking.

As described above, in the first embodiment, the posture of the marking robot is controlled according to the vertical laser irradiated toward the target position of the marking robot. In addition, based on the distance to the second screen measured by using the point laser irradiated toward the target position, the distance between the laser device and the marking robot becomes a predetermined distance. Control the delivery robot to move. Then, the marking robot is positioned at the target position. As a result, the marking robot can be automatically positioned with a simple configuration. Then, the marking robot can automatically perform marking.

In addition, by controlling the marking robot using two types of lasers, the marking robot is positioned in consideration of the orientation of the marking robot with respect to the target position and the distance between the target position and the marking robot. Can be done automatically.

Further, by adjusting the marking position using the horizontal position adjusting mechanism, even if the stopping position of the marking robot deviates from the target position, the display with respect to the target position can be performed with high accuracy.

Further, by using two types of lasers, it is possible to automatically position the marking robot without using an expensive system configuration such as a total station.

[Second Embodiment]
Next, the guidance and positioning system for the moving body according to the second embodiment will be described. Since the configuration of the moving body guiding and positioning system according to the second embodiment has the same configuration as that of the first embodiment, the same reference numerals are given and the description thereof will be omitted.

The second embodiment is different from the first embodiment in that the rotary laser irradiator 12B irradiates two lasers.

<Structure of the moving body guiding and positioning system according to the second embodiment>

FIG. 20 shows an example of the configuration of the rotary laser irradiator 12B in the second embodiment. The rotary laser irradiator 12B in the second embodiment irradiates two lasers from the laser irradiating unit 12D in response to the control signal output from the control device 10. The two lasers are substantially parallel to the floor surface, have the same irradiation direction, and differ in height from the floor surface. Further, as in the first embodiment, the rotary laser irradiator 12B has a rotary table 12E that rotates around the Z axis (direction direction) and a rotary table in response to a control signal related to a rotation instruction from the control device 10. It is provided with a rotating motor 12F.

FIG. 21 is a diagram showing an example of the configuration of the moving body guiding and positioning system 200 according to the second embodiment. In the second embodiment, the distance measuring laser is a point laser, and the attitude measuring laser is two lasers irradiated from the rotary laser irradiator 12B.

When the two lasers emitted from the rotary laser irradiator 12B are irradiated in the same direction and similarly scanned toward the target point T, the posture of the marking robot 14 is determined in the same manner as the vertical laser. Can be identified. Therefore, in the second embodiment, two lasers are used as the attitude measurement lasers instead of the vertical lasers.

The point laser is projected onto the second screen 14B, and the two lasers emitted from the rotary laser irradiator 12B are projected onto the first screen 14A and the second screen 14B, respectively. As described above, the position of each screen of the marking robot 14 and the heights of the three-dimensional laser measuring device 12A and the rotary laser irradiator 12B are adjusted in advance. Therefore, the two lasers emitted from the rotary laser irradiator 12B are projected onto the first screen 14A and the second screen 14B, for example, as shown in FIG.

Specifically, in STEP 3 of the coarse motion phase, the control unit 10B of the control device 10 sets the rotary laser irradiator 12B so that the two lasers are scanned toward the target point T of the marking robot 14. Control. Then, the rotary laser irradiator 12B irradiates the two lasers so as to scan the two lasers toward the target point T in response to the control signal of the control unit 10B. The second image on the second screen 14B of the second embodiment is as shown in FIG. _{Note that x point} in FIG. 23 represents the distance between the center of the second screen 14B and the irradiation point of the point laser.

Then, the control unit 10B of the control device 10 controls the rotary laser irradiator 12B so as to stop the rotational movement when the irradiation directions of the two lasers coincide with the directions of the target points T.

After the irradiation directions of the two lasers coincide with the directions of the target point T, the marking robot 14 moves in STEP 4 of the coarse motion phase. Then, marking is performed in the fine movement phase.

Since other configurations and operations of the moving body guiding and positioning system according to the second embodiment are the same as those of the first embodiment, the description thereof will be omitted.

As described above, the posture of the marking robot is controlled according to the two lasers emitted toward the target position of the marking robot. In addition, based on the distance to the second screen measured by using the point laser irradiated toward the target position, the distance between the laser device and the marking robot becomes a predetermined distance. Control the delivery robot to move. Then, the marking robot is positioned at the target position. As a result, the marking robot can be automatically positioned with a simple configuration.

Further, by using two point lasers instead of the vertical lasers, the energy of the lasers is less likely to be dispersed in the vertical direction, so that the projection position of the point lasers can be easily detected by image processing.

The present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the gist of the present invention.

For example, in the first embodiment described above, the configuration of the guiding and positioning system for the moving body has been described as an example as shown in FIG. 1, but the present invention is not limited thereto. For example, the configuration may be as shown in FIGS. 24 and 25.

For example, the three-dimensional laser measuring device 12A and the rotary laser irradiator 12B in the first embodiment can be rotated in synchronization with each other. Further, as in the modified example shown in FIG. 24, the three-dimensional laser measuring device 12A may be provided with the function of the rotary laser irradiator 12B.

In the second embodiment, the configuration of the moving body guiding and positioning system has been described as an example as shown in FIG. 21, but the present invention is not limited to this, and is shown in FIG. 25, for example. As in the modified example, the three-dimensional laser measuring device 12A may be provided with the function of the rotary laser irradiator 12B.

Further, in the first embodiment, the case where the distance measuring laser is a point laser and the attitude measurement laser is a vertical laser will be described as an example, and in the second embodiment, the distance measuring laser is a point. The case where the laser is a laser and the attitude measurement laser is two lasers has been described as an example, but the present invention is not limited to this. Any laser may be used as long as it can be used as a distance measuring laser and a posture measuring laser.

Further, in the above embodiment, the case where the robot control device and the control device execute the processes shown in FIGS. 16 to 19 has been described as an example, but the present invention is not limited to this. For example, the robot control device may execute all the processes, or the control device may execute all the processes. Further, each process may be exchanged between the robot control device and the control device. For example, the robot control device is measured by using a laser control unit that controls the laser device so as to irradiate the attitude measurement laser and the distance measurement laser toward the target position of the marking robot, and the distance measurement laser. It may be provided with a measuring unit that acquires the distance to the laser reflection position.

In addition, the moving body guidance and positioning system may acquire information on marking by communicating information with an external server. For example, when the external server stores a three-dimensional model of the building including the target position information representing the target point T, the control unit 10B of the control device 10 acquires the target position information from the three-dimensional model of the building. Then, the laser device 12 may be controlled so as to irradiate the point laser toward the target point based on the acquired target position information. As a result, the marking robot can be accurately positioned by using the target position information included in the three-dimensional model of the building.

Further, although the mode in which the program is stored (installed) in advance in the storage unit (not shown) has been described above, the program is recorded on any recording medium such as a CD-ROM, a DVD-ROM, or a micro SD card. It is also possible to provide it in the form in which it is provided.

10 Control equipment 10A Communication unit 10B Control unit 12 Laser equipment 12A Three-dimensional laser measuring instrument 12B Rotary laser irradiator 12C Laser irradiation unit 12D Laser irradiation unit 12E Rotating table 12F Motor 14 Marking robot 14A First screen 14B Second Screen 14C 1st camera 14D 2nd camera 14E Robot control device 14F Travel mechanism 14G Horizontal position adjustment mechanism 14H Display mechanism 14I Lifting mechanism 100,200 Moving object guidance and positioning system 140 Robot control unit 142 Robot communication unit

Claims (6)

A method of guiding and positioning a moving body, which is performed by a moving body guiding and positioning device.
The positioning device
The posture of the moving body is controlled according to the attitude measurement laser emitted toward the target position of the moving body.
The distance between the laser device that irradiates the distance measuring laser and the moving body is determined based on the distance to the laser reflection position measured by the distance measuring laser that irradiates the target position. The moving body is controlled to move so as to have a distance of, and the moving body is positioned at the target position.
A first image showing an image of the posture measuring laser irradiated on a first screen provided on the moving body and a posture measuring laser irradiated on a second screen provided on the moving body. The lateral position of the posture measuring laser in the first screen and the lateral position of the posture measuring laser in the second screen based on the second image representing the image of. Control the posture of the moving body so that
Based on the distance to the laser reflection position measured by the distance measuring laser, the moving body is moved so that the distance between the laser device and the second screen becomes a predetermined distance. To control,
How to guide and position a moving object. The posture of the moving body is controlled according to the attitude measurement laser emitted toward the target position of the moving body.
The distance between the laser device that irradiates the distance measuring laser and the moving body is determined based on the distance to the laser reflection position measured by the distance measuring laser that irradiates the target position. A moving body guiding and positioning device including a control unit that controls the moving body to move so as to have a distance of the moving body and positions the moving body at the target position .
The control unit irradiated the first image representing the image of the posture measuring laser irradiated on the first screen provided on the moving body and the second screen provided on the moving body. Based on the second image representing the image of the posture measurement laser, the position of the posture measurement laser in the left-right direction in the first screen and the posture measurement laser in the second screen. The posture of the moving body is controlled so that the position in the left-right direction matches.
Based on the distance to the laser reflection position measured by the distance measuring laser, the moving body is moved so that the distance between the laser device and the second screen becomes a predetermined distance. To control,
Moving body guidance and positioning device . The control unit controls to stop the moving body when the distance between the laser device and the second screen is a predetermined distance, and the target position is determined according to the stop position of the moving body. Controls the display mechanism of the moving body so as to display the
The moving body guiding and positioning device according to claim 2. A first screen installed so that the attitude measurement laser and the distance measurement laser are irradiated, and
It is installed so that the attitude measurement laser is irradiated, and is installed at a position different in the vertical direction with respect to the first screen and at a predetermined interval in the normal direction of the first screen. With the second screen
A first camera that captures a first image representing the image of the first screen, and
A second camera that captures a second image that represents the image of the second screen, and
A traveling mechanism controlled according to the distance to the first image, the second image, and the laser reflection position measured by the distance measuring laser, and a target according to the traveling result of the traveling mechanism. A display mechanism that displays the position and
A mobile body equipped with. Laser equipment that irradiates a laser for posture measurement and a laser for distance measurement,
A moving body according to claim 4 , a laser control unit that controls the laser device so as to irradiate the posture measuring laser and the ranging laser toward a target position of the moving body.
A moving body including the positioning device according to any one of claims 2 to 3 , further comprising a measuring unit for acquiring a distance to a laser reflection position measured by using the distance measuring laser. Guidance and positioning system. The laser control unit of the positioning device irradiates the ranging laser toward the target position based on the target position information acquired from the three-dimensional model of the building including the target position information. The positioning system according to claim 5 , which controls the device.

Images